#ifndef INDOOR_SLAM_TRACKER_H
#define INDOOR_SLAM_TRACKER_H

#include<opencv2/opencv.hpp>
#include<opencv2/core/core.hpp>
#include <vector>

using namespace std;

class Tracker{
public:
    cv::Mat prevImage, curIamge;
    cv::Mat prevDepth, curDepth;
    vector<cv::Point2f> prevPts, curPts;
    double  prevTime,  curTime;
    cv_bridge::CvImage outMsg;

public:
    void readImage(const cv::Mat &img_, const cv::Mat &depth_, double curTime_);
    void genOutputImage();
};


#endif //INDOOR_SLAM_TRACKER_H
